version: 66.07
glider: 513
mission: 7
dive: 561
start: 10 1 111 9 39 6
data:
$ID,513
$MISSION,7
$DIVE,561
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$D_NO_BLEED,500
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,350
$T_MISSION,700
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2114
$TGT_DEFAULT_LON,-15752
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-434703.16
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3828
$C_PITCH,2597
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,173
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,65
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3300
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,140
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-42.005497
$PRESSURE_SLOPE,0.00011645097
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042943386
$SEABIRD_T_H,0.00062873802
$SEABIRD_T_I,2.3468303e-05
$SEABIRD_T_J,2.4773003e-06
$SEABIRD_C_G,-10.034972
$SEABIRD_C_H,1.1114111
$SEABIRD_C_I,0.0038124193
$SEABIRD_C_J,-0.00019934869
$GPS1,011011,091907,1903.416,-15614.549,87,0.9,88,9.6
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-78.4
$GPS2,011011,093807,1903.562,-15614.473,12,1.1,17,9.6
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.008,0.239
$KALMAN_X,41651.1,386.4,-363.8,26646.6,-5588.8
$KALMAN_Y,-594307.9,1695.2,2123.6,486459.9,-13151.7
$MHEAD_RNG_PITCHd_Wd,334.7,132306,-15.7,-8.571
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.80,-136.7,0.0,0.0,0,72,0.00,0.00,-53.30,0.000,2,0.000,0.000,38,2143,3595,0,0,0,0,0,0
$GC,77,-0.80,-136.7,3.3,-4.0,8,99,10.00,2.17,-4.60,0.000,4,0.239,0.066,2321,3472,3860,0,0,0,0,0,0
$GC,243,-0.80,-136.7,57.0,-25.4,28,251,0.00,2.10,0.00,0.000,6,0.000,0.033,2321,2117,3863,0,0,0,0,0,0
$GC,508,-0.80,-136.7,131.7,-24.3,53,512,0.00,2.20,0.00,0.000,4,0.000,0.044,2321,692,3864,0,0,0,0,0,0
$GC,642,-0.80,-136.7,161.4,-18.9,64,650,0.00,2.15,0.00,0.000,6,0.000,0.042,2311,2072,3864,0,0,0,0,0,0
$GC,902,-0.80,-136.7,214.6,-20.5,86,906,0.00,2.22,0.00,0.000,4,0.000,0.051,2300,3507,3865,0,0,0,0,0,0
$GC,957,-0.80,-136.7,225.2,-17.8,88,963,0.15,2.12,0.00,0.000,6,0.164,0.031,2339,2089,3866,0,0,0,0,0,0
$GC,1211,-0.80,-136.7,263.5,-15.5,101,1215,0.00,2.08,0.00,0.000,4,0.000,0.040,2339,703,3867,0,0,0,0,0,0
$GC,1278,-0.80,-136.7,273.7,-14.2,104,1282,0.00,2.12,0.00,0.000,6,0.000,0.041,2330,2101,3867,0,0,0,0,0,0
$GC,1541,-0.80,-136.7,316.0,-16.3,115,1545,0.00,2.15,0.00,0.000,4,0.000,0.040,2330,694,3867,0,0,0,0,0,0
$GC,1583,-0.80,-136.7,323.9,-16.3,116,1588,0.00,2.15,0.00,0.000,6,0.000,0.043,2320,2098,3867,0,0,0,0,0,0
$GC,1869,-0.80,-136.7,370.8,-15.7,123,1873,0.00,2.20,0.00,0.000,4,0.000,0.051,2309,3519,3867,0,0,0,0,0,0
$GC,1902,-0.80,-136.7,375.8,-15.0,123,1909,0.12,2.12,0.00,0.000,6,0.163,0.030,2342,2098,3866,0,0,0,0,0,0
$GC,2152,-0.80,-136.7,405.4,-11.8,130,2156,0.00,2.12,0.00,0.000,4,0.000,0.040,2341,702,3865,0,0,0,0,0,0
$GC,2214,-0.80,-136.7,412.7,-12.0,131,2218,0.00,2.15,0.00,0.000,6,0.000,0.040,2333,2112,3865,0,0,0,0,0,0
$GC,2481,-0.80,-136.7,447.2,-13.3,138,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2111,3863,0,0,0,0,0,0
$GC,2727,-0.80,-136.7,479.9,-13.4,144,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2111,3861,0,0,0,0,0,0
$GC,2969,-0.80,-136.7,511.2,-12.9,150,2973,0.00,2.17,0.00,0.000,4,0.000,0.042,2333,704,3859,0,0,0,0,0,0
$GC,3041,-0.80,-136.7,520.9,-13.3,151,3045,0.00,2.17,0.00,0.000,6,0.000,0.041,2323,2105,3858,0,0,0,0,0,0
$GC,3293,-0.80,-136.7,556.3,-14.3,157,3297,0.00,2.22,0.00,0.000,4,0.000,0.054,2313,3509,3855,0,0,0,0,0,0
$GC,3332,-0.80,-136.7,562.2,-13.5,158,3337,0.00,2.12,0.00,0.000,6,0.000,0.032,2314,2111,3854,0,0,0,0,0,0
$GC,3618,-0.80,-136.7,604.4,-15.0,165,3622,0.00,2.15,0.00,0.000,4,0.000,0.039,2313,684,3852,0,0,0,0,0,0
$GC,3685,-0.80,-136.7,615.0,-14.1,166,3689,0.12,2.17,0.00,0.000,6,0.179,0.042,2334,2100,3851,0,0,0,0,0,0
$GC,3940,-0.80,-136.7,647.1,-12.5,173,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2099,3849,0,0,0,0,0,0
$GC,4185,-0.80,-136.7,675.7,-11.6,179,4189,0.00,2.15,0.00,0.000,4,0.000,0.039,2333,684,3847,0,0,0,0,0,0
$GC,4220,-0.80,-136.7,679.9,-11.7,179,4227,0.00,2.17,0.00,0.000,6,0.000,0.041,2325,2099,3846,0,0,0,0,0,0
$GC,4470,-0.80,-136.7,709.0,-11.6,186,4474,0.00,2.20,0.00,0.000,4,0.000,0.051,2314,3510,3844,0,0,0,0,0,0
$GC,4494,-0.80,-136.7,711.6,-11.8,186,4498,0.00,2.15,0.00,0.000,6,0.000,0.031,2314,2104,3844,0,0,0,0,0,0
$GC,4751,-0.80,-136.7,742.3,-12.1,193,4755,0.00,2.15,0.00,0.000,4,0.000,0.041,2314,688,3842,0,0,0,0,0,0
$GC,4792,-0.80,-136.7,747.7,-13.2,194,4797,0.12,2.20,0.00,0.000,6,0.179,0.042,2334,2099,3841,0,0,0,0,0,0
$GC,5079,-0.80,-136.7,778.1,-10.6,201,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2098,3839,0,0,0,0,0,0
$GC,5320,-0.80,-136.7,803.2,-10.3,207,5324,0.00,2.17,0.00,0.000,4,0.000,0.039,2334,687,3837,0,0,0,0,0,0
$GC,5354,-0.80,-136.7,806.9,-11.3,207,5361,0.00,2.17,0.00,0.000,6,0.000,0.041,2326,2098,3837,0,0,0,0,0,0
$GC,5604,-0.80,-136.7,834.1,-10.9,214,5608,0.00,2.15,0.00,0.000,4,0.000,0.039,2326,687,3835,0,0,0,0,0,0
$GC,5655,-0.80,-136.7,839.7,-10.8,215,5659,0.00,2.20,0.00,0.000,6,0.000,0.042,2315,2104,3835,0,0,0,0,0,0
$GC,5929,-0.80,-136.7,869.0,-10.8,222,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2103,3833,0,0,0,0,0,0
$GC,6172,-0.80,-136.7,894.2,-10.4,228,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2103,3831,0,0,0,0,0,0
$STATE,6249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6250,begin apogee
$GC,6257,-0.28,0.0,903.1,10.6,230,6373,0.62,0.00,113.20,1.065,6,0.148,0.000,2498,1915,3300,0,0,0,0,0,0
$STATE,6374,end apogee,CONTROL_FINISHED_OK
$STATE,6374,begin climb
$GC,6379,0.80,136.7,905.9,0.0,233,6504,1.08,0.00,121.82,1.034,6,0.094,0.000,2852,1915,2742,0,0,0,0,0,0
$GC,6738,0.80,136.7,851.6,18.8,242,6743,0.00,2.38,0.00,0.000,4,0.000,0.053,2852,3371,2734,0,0,0,0,0,0
$GC,6796,0.80,136.7,840.2,19.6,243,6800,0.00,2.12,0.00,0.000,6,0.000,0.028,2863,1973,2734,0,0,0,0,0,0
$GC,7063,0.80,136.7,789.8,18.7,250,7067,0.00,2.17,0.00,0.000,4,0.000,0.040,2874,561,2732,0,0,0,0,0,0
$GC,7086,0.80,136.7,785.3,19.5,250,7091,0.00,2.15,0.00,0.000,6,0.000,0.034,2874,1962,2730,0,0,0,0,0,0
$GC,7342,0.80,136.7,737.3,18.5,257,7346,0.00,2.28,0.00,0.000,4,0.000,0.053,2874,3377,2729,0,0,0,0,0,0
$GC,7410,0.80,136.7,724.7,18.4,258,7415,0.12,2.15,0.00,0.000,6,0.202,0.030,2855,1963,2730,0,0,0,0,0,0
$GC,7667,0.80,136.7,684.4,15.5,265,7671,0.00,2.25,0.00,0.000,4,0.000,0.049,2845,3368,2728,0,0,0,0,0,0
$GC,7733,0.80,136.7,672.9,16.7,266,7737,0.00,2.15,0.00,0.000,6,0.000,0.028,2853,1959,2728,0,0,0,0,0,0
$GC,7989,0.80,136.7,632.2,15.9,273,7993,0.00,2.28,0.00,0.000,4,0.000,0.050,2854,3380,2727,0,0,0,0,0,0
$GC,8018,0.80,136.7,627.3,17.7,273,8022,0.00,2.15,0.00,0.000,6,0.000,0.030,2864,1956,2727,0,0,0,0,0,0
$GC,8269,0.80,136.7,585.6,16.6,279,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1955,2726,0,0,0,0,0,0
$GC,8512,0.80,136.7,545.8,16.2,285,8516,0.00,2.28,0.00,0.000,4,0.000,0.049,2864,3378,2726,0,0,0,0,0,0
$GC,8554,0.80,136.7,539.1,16.7,286,8558,0.00,2.17,0.00,0.000,6,0.000,0.031,2875,1952,2726,0,0,0,0,0,0
$GC,8837,0.80,136.7,494.8,15.8,293,8841,0.00,2.12,0.00,0.000,4,0.000,0.040,2886,566,2724,0,0,0,0,0,0
$GC,8867,0.80,136.7,490.2,16.5,293,8872,0.12,2.12,0.00,0.000,6,0.190,0.033,2856,1964,2723,0,0,0,0,0,0
$GC,9117,0.80,136.7,453.1,14.8,299,9121,0.00,2.25,0.00,0.000,4,0.000,0.052,2856,3367,2722,0,0,0,0,0,0
$GC,9201,0.80,136.7,438.8,16.5,301,9206,0.00,2.12,0.00,0.000,6,0.000,0.029,2865,1956,2723,0,0,0,0,0,0
$GC,9488,0.80,136.7,394.8,15.0,308,9492,0.00,2.28,0.00,0.000,4,0.000,0.049,2865,3375,2723,0,0,0,0,0,0
$GC,9588,0.80,136.7,378.0,15.7,310,9592,0.00,2.12,0.00,0.000,6,0.000,0.029,2875,1961,2723,0,0,0,0,0,0
$GC,9856,0.80,136.7,338.0,15.0,317,9860,0.00,2.25,0.00,0.000,4,0.000,0.049,2876,3367,2723,0,0,0,0,0,0
$GC,9883,0.80,136.7,333.8,14.9,317,9888,0.12,2.12,0.00,0.000,6,0.198,0.028,2857,1951,2722,0,0,0,0,0,0
$GC,10135,0.80,136.7,304.1,11.8,323,10139,0.00,2.12,0.00,0.000,4,0.000,0.038,2866,561,2722,0,0,0,0,0,0
$GC,10225,0.80,136.7,292.0,12.8,326,10229,0.00,2.15,0.00,0.000,6,0.000,0.032,2866,1970,2720,0,0,0,0,0,0
$GC,10491,0.80,136.7,258.9,12.7,339,10495,0.00,2.20,0.00,0.000,4,0.000,0.050,2866,3357,2721,0,0,0,0,0,0
$GC,10750,0.80,136.7,225.3,13.3,350,10756,0.00,2.12,0.00,0.000,6,0.000,0.031,2876,1965,2721,0,0,0,0,0,0
$GC,11004,0.80,136.7,198.9,10.3,363,11008,0.00,2.12,0.00,0.000,4,0.000,0.036,2887,557,2721,0,0,0,0,0,0
$GC,11081,0.80,136.7,190.9,10.7,369,11085,0.12,2.15,0.00,0.000,6,0.181,0.031,2857,1969,2720,0,0,0,0,0,0
$GC,11346,0.81,152.1,168.6,7.9,393,11362,0.00,2.25,11.02,0.513,4,0.000,0.048,2857,3364,2678,0,0,0,0,0,0
$GC,11485,0.81,152.1,155.0,9.6,405,11489,0.00,2.15,0.00,0.000,6,0.000,0.028,2866,1950,2679,0,0,0,0,0,0
$GC,11748,0.81,152.1,130.6,8.7,429,11752,0.00,2.12,0.00,0.000,4,0.000,0.038,2875,562,2678,0,0,0,0,0,0
$GC,11863,0.86,189.5,121.4,7.0,438,11907,0.00,2.15,32.85,0.512,6,0.000,0.030,2875,1960,2526,0,0,0,0,0,0
$GC,12163,0.97,277.3,101.0,4.9,466,12244,0.00,2.20,72.72,0.497,4,0.000,0.037,2878,567,2169,0,0,0,0,0,0
$GC,12316,0.97,277.3,86.1,11.3,478,12324,0.00,2.17,0.00,0.000,6,0.000,0.032,2878,1951,2165,0,0,0,0,0,0
$GC,12581,0.97,277.3,55.7,12.0,503,12589,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1950,2163,0,0,0,0,0,0
$GC,12847,0.97,277.3,25.4,10.9,531,12856,0.00,2.17,0.00,0.000,4,0.000,0.038,2878,566,2163,0,0,0,0,0,0
$GC,12897,0.97,277.3,19.5,11.4,539,12905,0.00,2.15,0.00,0.000,6,0.000,0.031,2878,1959,2163,0,0,0,0,0,0
$STATE,13056,end climb,SURFACE_DEPTH_REACHED
$STATE,13056,begin surface coast
$FINISH,0.5,1.022732
$STATE,13088,end surface coast,CONTROL_FINISHED_OK
$STATE,13088,begin surface
$SM_CCo,13109,11.12,0.375,0,0,2075,300.24
$SM_GC,2.39,0.00,0.00,11.12,0.000,0.000,0.375,56,2130,2075,-7.94,0.85,300.24
$IRIDIUM_FIX,1850.98,-15611.28,260313,030335
$TT8_MAMPS,0.029146
$HUMID,1078992024
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.70
$XPDR_PINGS,10
$24V_AH,23.4,74.949
$10V_AH,8.0,69.362
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.325,139.425,351.625,11.125,0.000,81.397,121.877,628.418,2.500,0.000,19.462,1333.810,9235.160,458.288,2589.237,641.916,33.357,1289.073,0.000,1949.531,0.000,0.541,0.000
$DEVICE_MAMPS,239.304,72.098,1064.596,375.063,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,390.186,0.000,962.308,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354296
$DATA_FILE_SIZE,30211,572
$CAP_FILE_SIZE,169774,0
$CFSIZE,260165632,165097472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,112.2,1
$GPS,011011,131927,1905.012,-15614.742,36,4.3,56,9.6